WOMD-LiDAR: Raw Sensor Dataset Benchmark for Motion Forecasting

arXiv:2304.03834v2 Announce Type: replace
Abstract: Widely adopted motion forecasting datasets substitute the observed sensory inputs with higher-level abstractions such as 3D boxes and polylines. These sparse shapes are inferred through annotating the original scenes with perception systems' predictions. Such intermediate representations tie the quality of the motion forecasting models to the performance of computer vision models. Moreover, the human-designed explicit interfaces between perception and motion forecasting typically pass only a subset of the semantic information present in the original sensory …

abstract abstractions arxiv benchmark cs.cv dataset datasets forecasting inputs intermediate lidar perception performance predictions quality raw sensor sensory systems through type